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Getting distance from model to nearest object

Hello,

I am running Gazebo 2.3 under ROS Indigo and Ubuntu 14.04. I have a "walking person" model in my Gazebo world that I am moving around using a Python script and publishing new positions to the /gazebo/model_states topic.

My question is: is there any way either through the Gazebo API or through a ROS service or topic to get the distance between the person model and the nearest object in the rest of the world?

I can also use Gazebo 7 if that makes a difference.

Thanks! patrick

Getting distance from model to nearest object

Hello,

I am running Gazebo 2.3 under ROS Indigo and Ubuntu 14.04. I have a "walking person" model in my Gazebo world that I am moving around using a Python script and publishing new positions to the /gazebo/model_states topic.

My question is: is there any way either through the Gazebo API or through a ROS service or topic to get the distance between the person model and the nearest object in the rest of the world?

I can also use Gazebo 7 if that makes a difference.

Thanks! Thanks!
patrick